VisPy features:
You control the main loop. (VisPy uses pygame)
OpenGL 3D.
Integrated library for basic geometric shapes: triangles, cylinders, cones, arrows, spheres, bars (box), disks, lines)
Also more complex 3D objects:
Curves: To generate curves out of points in real-time
Grid: Background for the curves
Plot: Plots curves added by the user and a grid to show an osciloscope like display.
Articulated bodies (using orocos-kdl)
Frames: Three arrows, ortogonally oriented.
Segments: Bars representing kinematic links.
Articulated: A kinematic chain made out of segments.
Articulated tree: A kinematic tree made out of articulated bodies.
The git repository is here:
git clone git://www.memelabs.net/git/vispy.git